In-vivo visualization systems

ABSTRACT

A computer implemented method comprises receiving a model of a tissue region, steering a distal end of a catheter within a body to a first area of a tissue region, and obtaining a first image from the distal end of the catheter of the first area of the tissue region. The method further comprises mapping the first image of the first area of the tissue region to the model of the tissue region and displaying the first image of the first area of the tissue region on the model of the tissue region.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of priority to U.S. Prov. Pat. App.61/177,618 filed May 12, 2009, which is incorporated herein by referencein its entirety.

FIELD OF THE INVENTION

The present invention relates generally to medical devices used forvisualizing and/or assessing regions of tissue within a body. Moreparticularly, the present invention relates to methods and apparatus forvisualizing and/or assessing regions of tissue within a body, such asthe chambers of a heart, to facilitate diagnoses and/or treatments forthe tissue.

BACKGROUND OF THE INVENTION

Conventional devices for visualizing interior regions of a body lumenare known. For example, ultrasound devices have been used to produceimages from within a body in vivo. Ultrasound has been used both withand without contrast agents, which typically enhance ultrasound-derivedimages.

Other conventional methods have utilized catheters or probes havingposition sensors deployed within the body lumen, such as the interior ofa cardiac chamber. These types of positional sensors are typically usedto determine the movement of a cardiac tissue surface or the electricalactivity within the cardiac tissue. When a sufficient number of pointshave been sampled by the sensors, a “map” of the cardiac tissue may begenerated.

Another conventional device utilizes an inflatable balloon which istypically introduced intravascularly in a deflated state and theninflated against the tissue region to be examined. Imaging is typicallyaccomplished by an optical fiber or other apparatus such as electronicchips for viewing the tissue through the membrane(s) of the inflatedballoon. Moreover, the balloon must generally be inflated for imaging.Other conventional balloons utilize a cavity or depression formed at adistal end of the inflated balloon. This cavity or depression is pressedagainst the tissue to be examined and is flushed with a clear fluid toprovide a clear pathway through the blood.

However, such imaging balloons have many inherent disadvantages. Forinstance, such balloons generally require that the balloon be inflatedto a relatively large size which may undesirably displace surroundingtissue and interfere with fine positioning of the imaging system againstthe tissue. Moreover, the working area created by such inflatableballoons are generally cramped and limited in size. Furthermore,inflated balloons may be susceptible to pressure changes in thesurrounding fluid. For example, if the environment surrounding theinflated balloon undergoes pressure changes, e.g., during systolic anddiastolic pressure cycles in a beating heart, the constant pressurechange may affect the inflated balloon volume and its positioning toproduce unsteady or undesirable conditions for optimal tissue imaging.Additionally, imaging balloons are subject to producing poor or blurredtissue images if the balloon is not firmly pressed against the tissuesurface because of intervening blood between the balloon and tissue.

Accordingly, these types of imaging modalities are generally unable toprovide desirable images useful for sufficient diagnosis and therapy ofthe endoluminal structure, due in part to factors such as dynamic forcesgenerated by the natural movement of the heart. Moreover, anatomicstructures within the body can occlude or obstruct the image acquisitionprocess. Also, the presence and movement of opaque bodily fluids such asblood generally make in vivo imaging of tissue regions within the heartdifficult. Moreover, once a visual image of a tissue region is acquiredin vivo, there may be additional difficulties in assessing the conditionof the underlying tissue for appropriate treatments or treatmentparameters.

Thus, a tissue imaging system which is able to provide real-time in vivoimages and assessments of tissue regions within body lumens such as theheart through opaque media such as blood and which also provideinstruments for therapeutic procedures upon the visualized tissue aredesirable.

SUMMARY OF THE INVENTION

In describing the tissue imaging and manipulation apparatus that may beutilized for procedures within a body lumen, such as the heart, in whichvisualization of the surrounding tissue is made difficult, if notimpossible, by medium contained within the lumen such as blood, isdescribed below. Generally, such a tissue imaging and manipulationapparatus comprises an optional delivery catheter or sheath throughwhich a deployment catheter and imaging hood may be advanced forplacement against or adjacent to the tissue to be imaged.

The deployment catheter may define a fluid delivery lumen therethroughas well as an imaging lumen within which an optical imaging fiber orassembly may be disposed for imaging tissue. When deployed, the imaginghood may be expanded into any number of shapes, e.g., cylindrical,conical as shown, semi-spherical, etc., provided that an open area orfield is defined by the imaging hood. The open area is the area throughwhich the tissue region of interest may be imaged. Additionally, thetissue may be viewed not only through the aperture but also through thedistal membrane. The imaging hood may also define an atraumatic contactlip or edge for placement or abutment against the tissue region ofinterest. Moreover, the distal end of the deployment catheter orseparate manipulatable catheters may be articulated through variouscontrolling mechanisms such as push-pull wires manually or via computercontrol

The deployment catheter may also be stabilized relative to the tissuesurface through various methods. For instance, inflatable stabilizingballoons positioned along a length of the catheter may be utilized, ortissue engagement anchors may be passed through or along the deploymentcatheter for temporary engagement of the underlying tissue.

In operation, after the imaging hood has been deployed, fluid may bepumped at a positive pressure through the fluid delivery lumen until thefluid fills the open area completely and displaces any blood from withinthe open area. The fluid may comprise any biocompatible fluid, e.g.,saline, water, plasma, Fluorinert™, etc., which is sufficientlytransparent to allow for relatively undistorted visualization throughthe fluid. The fluid may be pumped continuously or intermittently toallow for image capture by an optional processor which may be incommunication with the assembly.

In an exemplary variation for imaging tissue surfaces within a heartchamber containing blood, the tissue imaging and treatment system maygenerally comprise a catheter body having a lumen defined therethrough,a visualization element disposed adjacent the catheter body, thevisualization element having a field of view, a transparent ortranslucent fluid source in fluid communication with the lumen, and abarrier or membrane extendable from the catheter body to localize,between the visualization element and the field of view, displacement ofblood by transparent fluid that flows from the lumen, and an instrumenttranslatable through the displaced blood for performing any number oftreatments upon the tissue surface within the field of view. The imaginghood may be formed into any number of configurations and the imagingassembly may also be utilized with any number of therapeutic tools whichmay be deployed through the deployment catheter.

More particularly in certain variations, the tissue visualization systemmay comprise components including the imaging hood, where the hood mayfurther include a membrane having a main aperture and additionaloptional openings disposed over the distal end of the hood. Anintroducer sheath or the deployment catheter upon which the imaging hoodis disposed may further comprise a steerable segment made of multipleadjacent links which are pivotably connected to one another and whichmay be articulated within a single plane or multiple planes. Thedeployment catheter itself may be comprised of a multiple lumenextrusion, such as a four-lumen catheter extrusion, which is reinforcedwith braided stainless steel fibers to provide structural support. Theproximal end of the catheter may be coupled to a handle for manipulationand articulation of the system.

To provide visualization, an imaging element such as a fiberscope orelectronic imager such as a solid state camera, e.g., CCD or CMOS, maybe mounted, e.g., on a shape memory wire, and positioned within or alongthe hood interior. A fluid reservoir and/or pump (e.g., syringe,pressurized intravenous bag, etc.) may be fluidly coupled to theproximal end of the catheter to hold the translucent fluid such assaline or contrast medium as well as for providing the pressure toinject the fluid into the imaging hood.

In clearing the hood of blood and/or other bodily fluids, it isgenerally desirable to purge the hood in an efficient manner byminimizing the amount of clearing fluid, such as saline, introduced intothe hood and thus into the body. As excessive saline delivered into theblood stream of patients with poor ventricular function may increase therisk of heart failure and pulmonary edema, minimizing or controlling theamount of saline discharged during various therapies, such as atrialfibrillation ablation, atrial flutter ablation, transseptal puncture,etc. may be generally desirable.

Steering of the hood assembly via controls on the handle may presentsome difficulties particularly when the catheter assembly has beencontorted into various configurations by patient anatomies. Thiscontortion may result in a mismatch between the steering controls andthe corresponding movement on the screen of the in-vivo visualizationsystem potentially leading to the user having to make constant micromovements on the steering controls to mentally re-map the direction ofmovement on the screen to the steering controls. This constantreadjustment increases procedure times and may put undue stress andfrustration on the user performing the treatment. This may continue toexist even with the addition of three-dimensional visualization systemsas the movement of the catheter hood may not correspond to the real-timeimages viewed on the screen projecting the tissue images. Directionalindicators on the visualization screen, in-vivo visualization screen, aswell as on the steering controls may help to give the user a sense oforientation of the catheter device with respect to the in-vivo imagebeing viewed. With this sense of orientation, users of the catheterdevice may be intuitively aware of the direction in which they shouldmanipulate the tip of the device in order to access a specific region ofanatomy.

In order to help physicians gain a better sense of the catheter hoodorientation, color coded directional indicators, e.g., illustrated asdots or other symbols, may used to represent a specific section of thecatheter hood. At least one of these color coded dots or symbols may beplaced on a representation of the catheter assembly on the monitor, onthe in vivo visualization monitor, and on the steering controls of thecatheter handle. For illustrative purposes, the dots or symbols (whichmay also be optionally color-coded) may represent one of fourdirectional indicators which may be represented on the monitors.

In yet another variation, one or more of the directional indicatorslocated on the handle assembly may be configured as tactile sensors.When a user places their hand or finger upon one of the tactile sensors,the corresponding directional indicator displayed on the positionalimage may begin to blink, flash, or otherwise provide some indicationthat the corresponding direction on the control handle has beenactivated thus giving the user an immediate indication as to whichportion of the handle control to manipulate without having to move theireyes from the monitors. The touch-sensitive sensors located on thehandle assembly may be configured as touch-sensitive sensors utilizingany number of known mechanisms, such as capacitive sensors orpressure-sensitive sensors, etc.

Aside from the use of directional indicators and generated positionalinformation, other mechanisms may be utilized for making themanipulation and steering of the hood relative to the body moreintuitive. One example may utilize rotation of the image on the monitorshowing the visualized tissue to affix a direction on the monitor to adirection of mechanical actuation on the control handle depending uponhow the handle is re-orientated. In another variation, rather thanrotating the images of the tissue based on the movement and rotation ofthe catheter handle, the images of the tissue may be fixed and thesteering controls instead may be remapped.

In yet another variation for facilitating tissue treatment, the capturedvisual image of the tissue as imaged through the hood maybe projectedand mapped to the representative map of the tissue anatomy. Being ableto visualize the “active spot” that is being visualized through the hoodby mapping it onto the surface of the representative three-dimensionalmodel may allow the physician to more accurately navigate the anatomy.When visualizing and treating tissue using the visualization system, thecatheter hood may not necessarily be visualizing the tissue that is seenon the in vivo visualization system. This may occur due to a variety ofreasons such as non-perpendicularity of the hood to the tissue surfaceor contortion of the hood. Because the active spot moves as the catheterhood is being moved, this may give the physician a greater awareness andconfidence on both the visualization systems.

In yet another example, way-pointing methods may also be utilized tofacilitate tissue treatment by the physician. Way-pointing is apre-operative method that allows the physician to map out the ablationprocedure by selecting lesion sites on the three-dimensional model ofthe anatomy. This data may be then transmitted to the catheter systemwhich may generate and project approximated lesion boundaries to beformed as well as the navigational information to guide the hood fromone lesion to another as the procedure progresses. Such a way-pointingsystem may prevent the user from becoming disoriented in the anatomy ofthe heart and may effectively speed procedure times while ensuring thatlesions are contiguously formed, if necessary or desired, by showinglesion boundaries.

Additionally and/or alternatively, other methods for helping the user tomaintain spatial awareness of the surrounding tissue and anatomicalfeatures may also be utilized for facilitating navigation, safety,procedure efficacy, etc. The features to be displayed may bepre-selected on the three-dimensional visualization model prior totreatment. These points of interest may allow the user to establish abase of reference when they are viewing the images of tissue on themonitor. Additionally, the indication of surrounding tissue regions mayhelp to ensure the avoidance of inadvertently treating tissuesurrounding the tissue region of interest.

Yet another example for facilitating tissue treatment procedures mayutilize the augmentation of images utilizing previously captured images.For instance, captured images previously visualized through the hood andrecorded may be compiled and stitched relative to one another to providea seamless interior map of the anatomy. This image stitching may presentan actual map of the interior of the heart instead of an approximatethree-dimensional model. Moreover, the images can also be mapped suchthat they take on the contours of the model. Being able to see theactual visual inside the heart may increase physician confidence andalso the speed of the procedure.

Procedure guidance systems are particularly useful when the user may beunfamiliar with the device and its capabilities or wish to facilitatethe procedure by minimizing steering decisions from one ablation pointto another. Such a system may function by first allowing the user toselect potential ablation sites, e.g., in proximity to a pulmonary veinostium, on either a pre-operative three-dimensional model or on auniquely generated three-dimensional model. Physicians can then navigatethe catheter hood into the particular orientation before performingablation. Additionally, for steerable sections with a plurality ofsensors, the steerable section can be graphically represented as well.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A shows a side view of one variation of a tissue imaging apparatusduring deployment from a sheath or delivery catheter.

FIG. 1B shows the deployed tissue imaging apparatus of FIG. 1A having anoptionally expandable hood or sheath attached to an imaging and/ordiagnostic catheter.

FIG. 1C shows an end view of a deployed imaging apparatus.

FIGS. 2A and 2B show one example of a deployed tissue imager positionedagainst or adjacent to the tissue to be imaged and a flow of fluid, suchas saline, displacing blood from within the expandable hood.

FIGS. 3A and 3B show examples of various visualization imagers which maybe utilized within or along the imaging hood.

FIGS. 4A and 4B show perspective and end views, respectively, of animaging hood having at least one layer of a transparent elastomericmembrane over the distal opening of the hood.

FIGS. 5A and 5B show perspective and end views, respectively, of animaging hood which includes a membrane with an aperture definedtherethrough and a plurality of additional openings defined over themembrane surrounding the aperture.

FIG. 6 shows one variation of an articulatable deployment catheterhaving a distal steerable section and a proximal steerable section witha three-dimensional model illustrating a representation of the hoodassembly within the body and the visual image of the tissue regioncaptured through the hood.

FIG. 7A shows a representative image of a hood assembly positionedwithin a generated three-dimensional model of the left atrial chamber ofa heart in proximity to the pulmonary veins.

FIGS. 7B and 7C show captured tissue images visualized through the hoodwith directional indicators superimposed upon the images.

FIGS. 8A and 8B show perspective views of directional indicatorspositioned upon the hood as well as on the handle assembly whichcorrespond with one another.

FIG. 9A shows a representative image of the hood assembly within athree-dimensional model of the left atrial chamber with the directionalindicators imaged thereon.

FIGS. 9B and 9C show perspective views of a handle assembly havingtouch-sensitive sensors on the manipulation control.

FIGS. 10A to 10C show an example of a perspective view of a handleassembly manipulated in a first direction to move an imaged region,respectively.

FIGS. 11A to 11C show the handle assembly of FIG. 10A rotated about itslongitudinal axis and manipulated again in the first direction to movean imaged region in a consistent manner, respectively.

FIGS. 12A to 12C show another example of a perspective view of a handleassembly manipulated in a first direction to move an imaged region,respectively.

FIGS. 13A to 13C show the handle assembly of FIG. 12A rotated about itslongitudinal axis and manipulated again in the first direction to movean imaged region in a consistent manner, respectively.

FIG. 14A shows a perspective view of a hood assembly having one or moresensors positioned along at least one of the steerable sections.

FIGS. 14B and 14C show three-dimensional generated models illustratingrepresentative images of the hood assembly and its curved steerablesegment relative to the tissue.

FIG. 15A shows an example of a three-dimensional generated modelillustrating a representative image of the hood assembly and an image oftissue captured from the hood and superimposed upon the model.

FIG. 15B shows another example of a three-dimensional generated modelillustrating pre-selected way points for ablation treatment imaged uponthe model.

FIG. 16A shows an imaged region of tissue visualized through the hoodwith navigational information superimposed upon the image.

FIG. 16B shows another example of an imaged region of tissue visualizedthrough the hood with anatomical in proximity to the imaged regionsuperimposed upon the tissue image.

FIG. 17 shows another example of a three-dimensional generated modelhaving multiple tissue images stitched together and superimposed uponthe model.

FIGS. 18A to 18C show another example of a three-dimensional generatedmodel having pre-selected ablation points and representative images ofthe hood assembly idealized for treatment along these ablation points.

FIG. 19 shows a perspective view of a handle assembly variationconfigured to generate tactile sensations such as force feedback on thesteering control for providing force feedback to the user's hand.

DETAILED DESCRIPTION OF THE INVENTION

Reconfiguring a tissue visualization and treatment device from a lowprofile delivery configuration for intravascular delivery through thevessels of a patient to a deployed and expanded configuration maysubject the distal end effector used for visualization and/or treatment,such as energy delivery, to potentially severe mechanical stresses(e.g., torsion, compression, tension, shearing, etc.). For example, areconfigurable hood which undergoes a shape change from its collapsedconfiguration to an expanded conical shape may utilize a distensible,collapsible, and/or reconfigurable substrate which may utilize electrodeplacement and electrical connection assemblies which are robust and ableto withstand such stresses. Such electrical connection assemblies may beshielded or insulated from contacting other structures so as to presenta smooth or unobstructive profile for reconfiguring with the hood.

Turning now to the tissue-imaging and manipulation apparatus, such anapparatus may have one or more electrodes positioned thereon and alsoprovide real-time images in vivo of tissue regions within a body lumensuch as a heart, which is filled with blood flowing dynamicallytherethrough. The apparatus is also able to provide intravascular toolsand instruments for performing various procedures upon the imaged tissueregions. Such an apparatus may be utilized for many procedures, e.g.,facilitating transseptal access to the left atrium, cannulating thecoronary sinus, diagnosis of valve regurgitation/stenosis,valvuloplasty, atrial appendage closure, arrhythmogenic focus ablation,among other procedures.

One variation of a tissue access and imaging apparatus is shown in thedetail perspective views of FIGS. 1A to 1C. As shown in FIG. 1A, tissueimaging and manipulation assembly 10 may be delivered intravascularlythrough the patient's body in a low-profile configuration via a deliverycatheter or sheath 14. In the case of treating tissue, it is generallydesirable to enter or access the left atrium while minimizing trauma tothe patient. To non-operatively effect such access, one conventionalapproach involves puncturing the intra-atrial septum from the rightatrial chamber to the left atrial chamber in a procedure commonly calleda transseptal procedure or septostomy. For procedures such aspercutaneous valve repair and replacement, transseptal access to theleft atrial chamber of the heart may allow for larger devices to beintroduced into the venous system than can generally be introducedpercutaneously into the arterial system.

When the imaging and manipulation assembly 10 is ready to be utilizedfor imaging tissue, imaging hood 12 may be advanced relative to catheter14 and deployed from a distal opening of catheter 14, as shown by thearrow. Upon deployment, imaging hood 12 may be unconstrained to expandor open into a deployed imaging configuration, as shown in FIG. 18.Imaging hood 12 may be fabricated from a variety of pliable orconformable biocompatible material including but not limited to, e.g.,polymeric, plastic, or woven materials. One example of a woven materialis Kevlar® (E. I. du Pont de Nemours, Wilmington, Del.), which is anaramid and which can be made into thin, e.g., less than 0.001 in.,materials which maintain enough integrity for such applicationsdescribed herein. Moreover, the imaging hood 12 may be fabricated from atranslucent or opaque material and in a variety of different colors tooptimize or attenuate any reflected lighting from surrounding fluids orstructures, i.e., anatomical or mechanical structures or instruments. Ineither case, imaging hood 12 may be fabricated into a uniform structureor a scaffold-supported structure, in which case a scaffold made of ashape memory alloy, such as Nitinol, or a spring steel, or plastic,etc., may be fabricated and covered with the polymeric, plastic, orwoven material. Hence, imaging hood 12 may comprise any of a widevariety of barriers or membrane structures, as may generally be used tolocalize displacement of blood or the like from a selected volume of abody lumen or heart chamber. In exemplary embodiments, a volume withinan inner surface 13 of imaging hood 12 will be significantly less than avolume of the hood 12 between inner surface 13 and outer surface 11.

Imaging hood 12 may be attached at interface 24 to a deployment catheter16 which may be translated independently of deployment catheter orsheath 14. Attachment of interface 24 may be accomplished through anynumber of conventional methods. Deployment catheter 16 may define afluid delivery lumen 18 as well as an imaging lumen 20 within which anoptical imaging fiber or assembly may be disposed for imaging tissue.When deployed, imaging hood 12 may expand into any number of shapes,e.g., cylindrical, conical as shown, semi-spherical, etc., provided thatan open area or field 26 is defined by imaging hood 12. The open area 26is the area within which the tissue region of interest may be imaged.Imaging hood 12 may also define an atraumatic contact lip or edge 22 forplacement or abutment against the tissue region of interest. Moreover,the diameter of imaging hood 12 at its maximum fully deployed diameter,e.g., at contact lip or edge 22, is typically greater relative to adiameter of the deployment catheter 16 (although a diameter of contactlip or edge 22 may be made to have a smaller or equal diameter ofdeployment catheter 16). For instance, the contact edge diameter mayrange anywhere from 1 to 5 times (or even greater, as practicable) adiameter of deployment catheter 16. FIG. 1C shows an end view of theimaging hood 12 in its deployed configuration. Also shown are thecontact lip or edge 22 and fluid delivery lumen 18 and imaging lumen 20.

As seen in the example of FIGS. 2A and 2B, deployment catheter 16 may bemanipulated to position deployed imaging hood 12 against or near theunderlying tissue region of interest to be imaged, in this example aportion of annulus A of mitral valve MV within the left atrial chamber.As the surrounding blood 30 flows around imaging hood 12 and within openarea 26 defined within imaging hood 12, as seen in FIG. 2A, theunderlying annulus A is obstructed by the opaque blood 30 and isdifficult to view through the imaging lumen 20. The translucent fluid28, such as saline, may then be pumped through fluid delivery lumen 18,intermittently or continuously, until the blood 30 is at leastpartially, and preferably completely, displaced from within open area 26by fluid 28, as shown in FIG. 2B.

Although contact edge 22 need not directly contact the underlyingtissue, it is at least preferably brought into close proximity to thetissue such that the flow of clear fluid 28 from open area 26 may bemaintained to inhibit significant backflow of blood 30 back into openarea 26. Contact edge 22 may also be made of a soft elastomeric materialsuch as certain soft grades of silicone or polyurethane, as typicallyknown, to help contact edge 22 conform to an uneven or rough underlyinganatomical tissue surface. Once the blood 30 has been displaced fromimaging hood 12, an image may then be viewed of the underlying tissuethrough the clear fluid 30. This image may then be recorded or availablefor real-time viewing for performing a therapeutic procedure. Thepositive flow of fluid 28 may be maintained continuously to provide forclear viewing of the underlying tissue. Alternatively, the fluid 28 maybe pumped temporarily or sporadically only until a clear view of thetissue is available to be imaged and recorded, at which point the fluidflow 28 may cease and blood 30 may be allowed to seep or flow back intoimaging hood 12. This process may be repeated a number of times at thesame tissue region or at multiple tissue regions.

FIG. 3A shows a partial cross-sectional view of an example where one ormore optical fiber bundles 32 may be positioned within the catheter andwithin imaging hood 12 to provide direct in-line imaging of the openarea within hood 12. FIG. 3B shows another example where an imagingelement 34 (e.g., CCD or CMOS electronic imager) may be placed along aninterior surface of imaging hood 12 to provide imaging of the open areasuch that the imaging element 34 is off-axis relative to a longitudinalaxis of the hood 12, as described in further detail below. The off-axisposition of element 34 may provide for direct visualization anduninhibited access by instruments from the catheter to the underlyingtissue during treatment. Additionally and/or alternatively, theelectronic imaging element 34 (e.g., CCD or CMOS) may also be positionedalong or in proximity to the longitudinal axis of the catheter toprovide in-line imaging of the open area.

In utilizing the imaging hood 12 in any one of the procedures describedherein, the hood 12 may have an open field which is uncovered and clearto provide direct tissue contact between the hood interior and theunderlying tissue to effect any number of treatments upon the tissue, asdescribed above. Yet in additional variations, imaging hood 12 mayutilize other configurations. An additional variation of the imaginghood 12 is shown in the perspective and end views, respectively, ofFIGS. 4A and 4B, where imaging hood 12 includes at least one layer of atransparent elastomeric membrane 40 over the distal opening of hood 12.An aperture 42 having a diameter which is less than a diameter of theouter lip of imaging hood 12 may be defined over the center of membrane40 where a longitudinal axis of the hood intersects the membrane suchthat the interior of hood 12 remains open and in fluid communicationwith the environment external to hood 12. Furthermore, aperture 42 maybe sized, e.g., between 1 to 2 mm or more in diameter and membrane 40can be made from any number of transparent elastomers such as silicone,polyurethane, latex, etc. such that contacted tissue may also bevisualized through membrane 40 as well as through aperture 42.

Aperture 42 may function generally as a restricting passageway to reducethe rate of fluid out-flow from the hood 12 when the interior of thehood 12 is infused with the clear fluid through which underlying tissueregions may be visualized. Aside from restricting out-flow of clearfluid from within hood 12, aperture 42 may also restrict externalsurrounding fluids from entering hood 12 too rapidly. The reduction inthe rate of fluid out-flow from the hood and blood in-flow into the hoodmay improve visualization conditions as hood 12 may be more readilyfilled with transparent fluid rather than being filled by opaque bloodwhich may obstruct direct visualization by the visualizationinstruments.

Moreover, aperture 42 may be aligned with catheter 16 such that anyinstruments (e.g., piercing instruments, guidewires, tissue engagers,etc.) that are advanced into the hood interior may directly access theunderlying tissue uninhibited or unrestricted for treatment throughaperture 42. In other variations wherein aperture 42 may not be alignedwith catheter 16, instruments passed through catheter 16 may stillaccess the underlying tissue by simply piercing through membrane 40.

In an additional variation, FIGS. 5A and 5B show perspective and endviews, respectively, of imaging hood 12 which includes membrane 40 withaperture 42 defined therethrough, as described above. This variationincludes a plurality of additional openings 44 defined over membrane 40surrounding aperture 42. Additional openings 44 may be uniformly sized,e.g., each less than 1 mm in diameter, to allow for the out-flow of thetranslucent fluid therethrough when in contact against the tissuesurface. Moreover, although openings 44 are illustrated as uniform insize, the openings may be varied in size and their placement may also benon-uniform or random over membrane 40 rather than uniformly positionedabout aperture 42 in FIG. 5B. Furthermore, there are eight openings 44shown in the figures although fewer than eight or more than eightopenings 44 may also be utilized over membrane 40.

Additional details of tissue imaging and manipulation systems andmethods which may be utilized with apparatus and methods describedherein are further described, for example, in U.S. patent applicationSer. No. 11/259,498 filed Oct. 25, 2005 (U.S. Pat. Pub. 2006/0184048A1), which is incorporated herein by reference in its entirety.

In utilizing the devices and methods above, various procedures may beaccomplished. One example of such a procedure is crossing a tissueregion such as in a transseptal procedure where a septal wall is piercedand traversed, e.g., crossing from a right atrial chamber to a leftatrial chamber in a heart of a subject. Generally, in piercing andtraversing a septal wall, the visualization and treatment devicesdescribed herein may be utilized for visualizing the tissue region to bepierced as well as monitoring the piercing and access through thetissue. Details of transseptal visualization catheters and methods fortransseptal access which may be utilized with the apparatus and methodsdescribed herein are described in U.S. patent application Ser. No.11/763,399 filed Jun. 14, 2007 (U.S. Pat. Pub. 2007/0293724 A1), whichis incorporated herein by reference in its entirety. Additionally,details of tissue visualization and manipulation catheter which may beutilized with apparatus and methods described herein are described inU.S. patent application Ser. No. 11/259,498 filed Oct. 25, 2005 (U.S.Pat. Pub. 2006/0184048 A1), which is incorporated herein by reference inits entirety.

In clearing the hood of blood and/or other bodily fluids, it isgenerally desirable to purge the hood in an efficient manner byminimizing the amount of clearing fluid, such as saline, introduced intothe hood and thus into the body. As excessive saline delivered into theblood stream of patients with poor ventricular function may increase therisk of heart failure and pulmonary edema, minimizing or controlling theamount of saline discharged during various therapies, such as atrialfibrillation ablation, atrial flutter ablation, transseptal puncture,etc. may be generally desirable.

Turning now to the electrode assemblies and connection systems utilizedwith the collapsible hood, various examples are described herein whichillustrate variations for electrode positioning along the hood which mayminimize or reduce the degree of stress imparted to the electrodeassemblies. These electrodes (e.g., electrode pairs) may be used todeliver electrical energy such as radio-frequency energy to tissue indirect contact with or in proximity to the electrodes to form lesionsupon the tissue surface as well as underlying tissue regions.Additionally, the electrodes or electrode pairs may be positioned aboutthe hood in a uniform or non-uniform manner depending upon the desiredconfiguration. Moreover, these electrodes may also be used to deliverenergy into and/or through the purging fluid which may contact theelectrodes for conducting the energy through the fluid and into theunderlying tissue region being treated. Alternatively, one or more ofthese electrodes may also be used to detect and/or measure anyelectrophysiological activity of the contacted tissue prior to, during,or after tissue treatment.

While specific examples of the visualization and treatment hood areshown herein, other variations and examples of hoods and tissuetreatment systems may be utilized with the devices and methods describedherein. For example, the hoods, systems, and other features as describedin Ser. No. 11/259,498 filed Oct. 25, 2005 (U.S. Pat. Pub. 2006/0184048A1); Ser. No. 11/775,837 filed Jul. 10, 2007 (U.S. Pat. Pub.2008/0009747 A1); Ser. No. 11/828,267 filed Jul. 25, 2007 (U.S. Pat.Pub. No. 2008/0033290 A1); Ser. No. 12/118,439 filed May 9, 2008 (U.S.Pat. Pub. 2009/0030412 A1); Ser. No. 12/201,811 filed Aug. 29, 2008(U.S. Pat. Pub. 2009/0062790 A1); and Ser. No. 12/209,057 filed Sep. 11,2008 (U.S. Pat. Pub. 20090076498 A 1), may be utilized herewith. Each ofthese applications is incorporated herein by reference in its entirety.

In particular, such assemblies, apparatus, and methods may be utilizedfor treatment of various conditions, e.g., arrhythmias, through ablationunder direct visualization. Details of examples for the treatment ofarrhythmias under direct visualization which may be utilized withapparatus and methods described herein are described, for example, inU.S. patent application Ser. No. 11/775,819 filed Jul. 10, 2007 (U.S.Pat. Pub. No. 2008/0015569 A1), which is incorporated herein byreference in its entirety. Variations of the tissue imaging andmanipulation apparatus may be configured to facilitate the applicationof bipolar energy delivery, such as radio-frequency (RF) ablation, to anunderlying target tissue for treatment in a controlled manner whiledirectly visualizing the tissue during the bipolar ablation process aswell as confirming (visually and otherwise) appropriate treatmentthereafter.

Steering of the hood assembly via controls on the handle may presentsome difficulties particularly when the catheter assembly has beencontorted into various configurations by patient anatomies. Thiscontortion may result in a mismatch between the steering controls andthe corresponding movement on the screen of the in-vivo visualizationsystem potentially leading to the user having to make constant micromovements on the steering controls to mentally re-map the direction ofmovement on the screen to the steering controls. This constantreadjustment increases procedure times and may put undue stress andfrustration on the user performing the treatment. This may continue toexist even with the addition of three-dimensional visualization systemsas the movement of the catheter hood 12 may not correspond to thereal-time images viewed on the screen projecting the tissue images.Directional indicators on the visualization screen, in-vivovisualization screen, as well as on the steering controls may help togive the user a sense of orientation of the catheter device with respectto the in-vivo image being viewed. With this sense of orientation, usersof the catheter device may be intuitively aware of the direction inwhich they should manipulate the tip of the device in order to access aspecific region of anatomy. Further details for use of directionalindicators which may be utilized herein are shown and described in U.S.patent application Ser. No. 12/118,439 filed May 9, 2008 (U.S. Pat. Pub.No. 2009/0030412 A1), which is incorporated herein by reference in itsentirety.

Turning now to the assembly view of FIG. 6, one variation of anarticulatable deployment catheter 50 is shown which comprises a distalsteerable section 52 and a proximal steerable section 54 locatedproximally of the distal steerable section 52. Further details of thedeployment catheter 50 which may be used herein may be seen in furtherdetail in U.S. patent application Ser. No. 12/108,812 filed Apr. 24,2008 (U.S. Pat. Pub. No. 2008/0275300 A1) and U.S. patent applicationSer. No. 12/618,306 filed Nov. 13, 2009, each of which is incorporatedherein by reference in its entirety. As shown, the articulatabledeployment catheter 50 may extend from the catheter 16 attached tohandle assembly 80. In this variation, the handle assembly 80 may have ahandle body 82 and an articulatable proximal steering control 84 whichmay be manipulated to steer a proximal steerable section 54 within asingle plane of articulation. A separate distal steering control 86which may be manipulated to steer a distal steerable section 52 in anyof four planes or more independently of the proximal steerable section54. A first monitor 88 may be in communication with the catheterassembly 50 to record and display a representative image of the hood 12orientation of the device relative to the anatomy to show the positionalinformation 90. A second monitor 92 may also be in communication withthe catheter assembly 50 to display the visual images of the underlyingtissue captured through the hood 12 to show the real-time visual imagesof tissue 94.

Additional control and navigation systems which may be utilized hereinare shown and described in further detail in U.S. patent applicationSer. No. 11/848,429 filed Aug. 31, 2007 (U.S. Pat. Pub. 2008/0097476 A1)and in Ser. No. 11/848,532 also filed Aug. 31, 2007 (U.S. Pat. Pub.2009/0054803 A1), each of which is incorporated herein by reference inits entirety.

An intervening link 56 may couple the sections 52, to one another andprovide a terminal link to which one or more pull wires may be attachedin controlling one or both sections. The distal steerable section 52 mayutilize individual links 66 which allow for the section 52 to bearticulated in a variety of different directions and angles, e.g.,four-way steering, to enable omni-direction articulation. The individuallinks 66 may accordingly utilize a body member 68 having a pair of yokemembers 70 positioned opposite to one another and extending distallyfrom the body member 68 and each defining an opening. A pair of pins 72may each extend radially in opposing directions from body member 68 andin a perpendicular plane relative to a plane defined by the yoke members70. The pins 72 of each link 66 may be pivotably received by the yokemembers 70 of an adjacent link 66 such that the pins 72 and yoke members70 are joined in an alternating manner. This alternating connectionallows for the serially aligned links 66 to be articulatedomni-directionally.

The links 58 of the proximal steering section 54 may also comprise apair of yoke members 62 positioned opposite to one another and extendingdistally from body member 60. However, the pins 64 may extend radiallyin opposing directions while remaining in the same plane as that definedby yoke members 62. When joined together in series, each pin 64 of eachlink 58 may be pivotably received by the yoke members 62 of an adjacentlink 58. Yet when joined, the composite proximal steering section 54 maybe constrained to bend planarly within a single plane relative to therest of the deployment catheter.

The combined distal steerable section 52 and a proximal steerablesection 54 results in a proximal steering section which can bearticulated in a single plane to retroflex the entire distal assemblyand a distal steering section which can then be articulated any numberof directions, e.g., four-way steering, to access anatomical structureswithin the heart or any other lumen. The assembly may thus be used,e.g., to create circumferential lesions around the ostia of thepulmonary veins in the left atrium while the underlying tissue remainsunder direct visualization through the hood.

In order to help physicians gain a better sense of the catheter hoodorientation, color coded directional indicators, e.g., illustrated asdots or other symbols, may used to represent a specific section of thecatheter hood 12. At least one of these color coded dots or symbols maybe placed on a representation of the catheter assembly on the monitor,on the in vivo visualization monitor, and on the steering controls ofthe catheter handle. For illustrative purposes, the dots or symbols(which may also be optionally color-coded) may represent one of fourdirectional indicators which may be represented on the monitors, asshown in FIG. 7A the representative image of a hood assembly ispositioned within a generated three-dimensional model of the left atrialchamber LA of a heart in proximity to the pulmonary veins PV. Therepresentative image of the hood assembly may be generated, as describedpreviously, and imaged to show a real time representation of the hoodorientation relative to the tissue.

The image of the positional information 100 may be seen where, e.g., afirst directional indicator 102 shown as a blue dot, may be assigned afirst position along the hood 12, a second directional indicator 104shown as a red triangle, may be assigned a second position along thehood 12, a third directional indicator 106 shown as a yellow star may beassigned a third position along the hood 12, and a fourth directionalindicator 108 shown as a green dot may be positioned along a fourthposition along the hood 12. The dots or symbols are shown forillustrative purposes and they may represented by any number of symbols,letters, numbers, etc. so long as they represent indicators which aredistinct from one another. Moreover, color-coding may be optionallyincorporated and the number and positioning of the indicators may bevaried so long as different directions may be discerned by the placementand number of indicators.

In addition to the generated representative orientation informationshown in the displayed image 100, the captured images of the tissuewhich are visualized through the hood 12 and displayed, e.g., on asecond monitor, may be seen in the visualized tissue image 94 of FIG.7B. Each of the directional indicators 102, 104, 106, 108 may be seenalong respective quadrants of the imaged tissue region. Thesedirectional indicators may be either imprinted on the distal membrane ofthe hood 12 such that they correspond with the directional indicatorsgenerated and displayed in image 100. Additionally or alternatively,these directional indicators may be generated by a processor andsuperimposed upon the images of the visualized tissue. Alternately,directional indicators may be placed on the surface of the secondmonitor 92 using colored stickers, translucent overlays or by markingwith a pen on the surface of the monitor. Other variations may utilizedirectional indicators which may be shown as colored regions or bands102′, 104′, 106′, 108′ which may be displayed and/or superimposed uponthe imaged tissue, as shown in FIG. 7C. Further details are also shownand described in U.S. patent application Ser. No. 12/118,439 filed May9, 2008, which is incorporated herein by reference in its entirety.

As previously mentioned and as seen in the perspective view of FIG. 8A,directional indicators 102, 104, 106, 108 may be imprinted directly uponthe distal membrane 40 of the hood 12 in proximity to the aperture 42.Moreover, the handle assembly 80 may also define, e.g., the one or moremarkings 104″, 106″, etc., over the steering controls, as shown in theperspective view of FIG. 8B, which correspond with the identical orsimilar markings defined along the distal membrane 40 of hood 12. Forexample, the first directional indicator 102 at the first location alonghood 12; the second directional indicator 104 at the second locationalong hood 12, the third directional indicator 106 at the third locationalong hood 12, and the fourth directional indicator 108 along the fourthlocation along hood 12 may be distinct from one another and maycorrespond to the indicators located on the control 86. Further detailsof catheter control handles which may be utilized herein are describedin further detail in U.S. patent application Ser. No. 12/499,011 filedJul. 7, 2009, which is incorporated herein by reference in its entirety.

As the user visualizes the tissue through hood 12, if the hood 12 neededto be repositioned in any particular direction along the tissue, theuser may note the direction to be moved relative to the indicatorsmarked on hood 12 and may thus manipulate the controls on control 86accordingly such that movement of the controls in the chosen directionmay articulate the hood 12 in the same direction. Additionally, thegenerated image of the hood orientation may also display the directionalindicators corresponding to the indicators on the hood 12 and the handle80. Such a feature may be highly advantageous relative to the absence ofvisual markings as it may be difficult for the user to steer the hood 12in a desired direction after it is inserted into the patient's body dueto the changes in hood orientation relative to the handle 80orientation.

In yet another variation, one or more of the directional indicatorslocated on the handle assembly 80 may be configured as tactile sensors.An example is shown in the perspective view of FIG. 9B which shows thedirectional indicators, which may be color-coded, configured astouch-sensitive sensors 104 s, 106 s, etc. When a user places their handor finger upon one of the tactile sensors, such as sensor 106 s as shownin FIG. 9C, the corresponding directional indicator 106 displayed onpositional image 100 in FIG. 9A may begin to blink, flash, or otherwiseprovide some indication that the corresponding direction on the controlhandle 80 has been activated thus giving the user an immediateindication as to which portion of the handle control to manipulatewithout having to move their eyes from the monitors. In addition, when auser places their hand or finger upon one of the tactile sensors, suchas sensor 106 s as shown in FIG. 9C, the corresponding directionalindicator 106′ displayed on the tissue image 94 in FIG. 7B may begin toblink, flash, or otherwise provide some indication that thecorresponding direction on the control handle 80 has been activated thusgiving the user an immediate indication as to which portion of thehandle control to manipulate without having to move their eyes from themonitors. The touch-sensitive sensors located on the handle assembly 80may be configured as touch-sensitive sensors utilizing any number ofknown mechanisms, such as capacitive sensors or pressure-sensitivesensors, etc.

Aside from the use of directional indicators and generated positionalinformation, other mechanisms may be utilized for making themanipulation and steering of the hood relative to the body moreintuitive. One example may utilize rotation of the image on the monitorshowing the visualized tissue to affix a direction on the monitor to adirection of mechanical actuation on the control handle depending uponhow the handle is re-orientated. For example, as shown in theperspective view of FIG. 10A, the control 86 on handle assembly 80 maybe articulated in a first direction 114 by manipulating the control 86along the directional indicator 106 s. This may result in the hood 12moving in a first direction such that the imaged tissue 110 through thehood 12, as shown in FIG. 10B, accordingly moves to the left relative tothe tissue, as shown in the imaged tissue 112, as shown in FIG. 10C.

Because of the tortuous nature of patient anatomies, the handle assembly80 may be rotated about its longitudinal axis relative to the user toposition the hood at the distal end of the catheter assembly within thebody. As shown in the perspective view of FIG. 11A, handle assembly 80is shown rotated about its longitudinal axis in a direction or rotation116. The directional indicator 106 s may be seen as rotated, e.g., 90degrees away, into a different position relative to the user such thatthe directional indicator 108 s now is proximate to the user. Actuationof the control 86 along the directional indicator 108 s may again resultin a movement of the hood 12 to the left, as shown by the imaged tissue110 being moved to the left as shown by the imaged tissue 112. In thismanner, regardless of the rotation of the catheter handle 80 actuationof the control 86 may result in consistent movement of the hood, i.e.,actuation to the left results in movement of the hood 12 to the left,actuation to the right results in movement of the hood 12 to the right,etc.

Such movement may be achieved by mechanical mechanisms, such as having aportion of the catheter handle 80 being rotatable about its longitudinalaxis to maintain a consistent position of the handle relative to theuser. Examples of such a catheter handle assembly as shown and describedin further detail in U.S. Prov. App. 61/286,283 filed Dec. 14, 2009 and61/297,462 filed Jan. 22, 2010, each of which is incorporated herein byreference in its entirety. Alternatively, one or more accelerometers orpositional sensors may be incorporated into the handle assembly 80 whichcommunicate with a processor such that movement of the handle assembly80 from an initial calibrated position may automatically rotate theimages on the monitor to align in a corresponding manner with therotation of the handle assembly 80.

In another variation, rather than rotating the images of the tissuebased on the movement and rotation of the catheter handle, the images ofthe tissue may be fixed and the steering controls instead may beremapped. An example is shown in the perspective view of FIG. 12A whichshows catheter handle 80 manipulated along a first direction 120 bymanipulating control 86 along directional indicator 106 s. The resultingimaged tissue 110, shown in FIG. 12B, may be accordingly moved in afirst corresponding direction, e.g., to the left as shown in the movedtissue image of FIG. 12C. As the handle assembly 80 is rotated toaccommodate positioning of the hood within the body, as shown in FIG.13A, the previously-articulated directional indicator 106 s may be seenrotated into a new position relative to a user. Manipulation of thecontrol 86 along the same direction 120 as previously performed but thistime along directional indicator 108 s may nonetheless result in theimaged tissue 110, as shown in FIG. 13B, being moved again in the samedirection as shown in the imaged tissue 112 of FIG. 13C. In thisexample, the steering controls are constantly remapped such that tissueimage as seen on the monitors always move in a direction thatcorresponds to the spatial orientation of the steering control 80. Thismay be accomplished by utilizing, e.g., electronically-actuatedmechanisms within handle assembly 80 which are controlled via aprocessor in communication with one or more accelerometers or positionsensors. Such a system may automatically map and re-map the control 86with the electronically-actuated mechanisms depending upon theorientation of the handle assembly 80 relative to an initiallycalibrated orientation.

In generating a representative image of the hood assembly orientationrelative to the tissue surface, one or more sensors may be positionedalong the catheter device for generating the images, as previouslydescribed, e.g., in U.S. patent application Ser. No. 11/848,532 filedAug. 31, 2007 (U.S. Pat. Pub. 2009/0054803 A1), which has beenpreviously incorporated herein by reference above. Additional sensorsmay be placed along the steerable sections of the catheter assembly suchthat an image of the relative positioning of the catheter and hoodassembly may be generated for graphical representation. As shown in theperspective view of FIG. 14A, multiple sensors 121, 122, 124 may bepositioned at intervals along the distal steerable section 52.Additional sensors may also be positioned optionally along the proximalsteerable section 54 as well. The resulting generated image 130 of thehood assembly 132 may be seen in FIG. 14B and the representative hoodassembly 132 as well as the representative distal steerable section 134may also be seen in the image of FIG. 14C. Providing the representativeimage of one or both steerable sections may provide the user the abilityto observe the complex curve of the steerable sections for discerning ifthe catheter is at its contortion limit as the hood assembly is inproximity of the target tissue to allow for a faster and more intuitivemovement of the catheter from one tissue region to another regionwithout reaching contortion limits or over-steering the catheterassembly.

In yet another variation for facilitating tissue treatment, the capturedvisual image of the tissue as imaged through the hood 12 may beprojected and mapped to the representative map of the tissue anatomy.Being able to visualize the “active spot” 140 that is being visualizedthrough the hood, shown by its representation 132, by mapping it ontothe surface of the representative three-dimensional model 130 may allowthe physician to more accurately navigate the anatomy, as shown in FIG.15A. When visualizing and treating tissue using the visualizationsystem, the catheter hood may not necessarily be visualizing the tissuethat is seen on the in vivo visualization system. This may occur due toa variety of reasons such as non-perpendicularity of the hood to thetissue surface or contortion of the hood. Because the active spot movesas the catheter hood is being moved, this may give the physician agreater awareness and confidence on both the visualization systems.

The three-dimensional model 130 may be normally created by a sensorprobe which is pushed against the walls of the anatomy. The associateddata points are taken and a representative model is built. Often themodel is inaccurate and physicians rely on approximations to makedecisions on locations for tissue treatment. Cross-referencing the datapoints of the three-dimensional model with images viewed by the in vivovisualization system can be helpful in making adjustments and addingfurther detail to the model. Visual features such as pulmonary veinostia could potentially be referenced to the three-dimensional model bylocation and contour matching software algorithms in addition to manualpoint selection.

In yet another example, way-pointing methods may also be utilized tofacilitate tissue treatment by the physician. Way-pointing is apre-operative method that allows the physician to map out the ablationprocedure by selecting lesion sites on the three-dimensional model ofthe anatomy. As shown in the image model 130 of FIG. 15B, one or morelesion sites, e.g., 142 to 152, at least partially around the pulmonaryvein PV ostium, may be pre-selected on the three-dimensional model 130.This data may be then transmitted to the catheter system which maygenerate and project approximated lesion boundaries 162 to be formed aswell as the navigational information 164 to guide the hood from onelesion to another as the procedure progresses, as shown in the directvisual image 160 captured through the hood 12 and projected on a monitorwith the way-pointing and navigational information superimposed on thetissue image, as shown in FIG. 16A. Such a way-pointing system mayprevent the user from becoming disoriented in the anatomy of the heartand may effectively speed procedure times while ensuring that lesionsare contiguously formed, if necessary or desired, by showing lesionboundaries.

Additionally and/or alternatively, other methods for helping the user tomaintain spatial awareness of the surrounding tissue and anatomicalfeatures may also be utilized for facilitating navigation, safety,procedure efficacy, etc. FIG. 16B shows an example of an imaged tissueregion 170 with indicators of areas of interest beyond the field of viewof the catheter hood. As an illustration, the pulmonary vein locationshave been indicated in the figure but points of interest may alsoinclude unique anatomical features, locations of probes such as a probepositioned in the esophagus, location of the lung, patent foramen ovale,and among other things. The features to be displayed may be pre-selectedon the three-dimensional visualization model prior to treatment. Thesepoints of interest may allow the user to establish a base of referencewhen they are viewing the images of tissue on the monitor. Additionally,the indication of surrounding tissue regions may help to ensure theavoidance of inadvertently treating tissue treatment surrounding thetissue region of interest.

Yet another example for facilitating tissue treatment procedures mayutilize the augmentation of images utilizing previously captured images.For instance, as shown in the three-dimensional model 180 of FIG. 17,captured images 182, 184, 186, 188 previously visualized through thehood and recorded may be compiled and stitched relative to one anotherto provide a seamless interior map of the anatomy. This image stitchingmay present an actual map of the interior of the heart instead of anapproximate three-dimensional model. Moreover, the images can also bemapped such that they take on the contours of the model. Being able tosee the actual visual inside the heart may increase physician confidenceand also the speed of the procedure. Further examples and details areshown and described in U.S. patent application Ser. No. 11/848,532 filedAug. 31, 2007 (U.S. Pat. Pub. 2009/0054803 A1), which has beenpreviously incorporated herein above.

Procedure guidance systems are particularly useful when the user may beunfamiliar with the device and its capabilities or wish to facilitatethe procedure by minimizing steering decisions from one ablation pointto another. Such a system may function by first allowing the user toselect potential ablation sites 192, e.g., in proximity to a pulmonaryvein PV ostium, on either a pre-operative three-dimensional model or ona uniquely generated three-dimensional model 190 as shown in FIG. 18A.FIG. 18B shows various idealized positions and orientations of therepresentation of the hood 194, 196 in order to create optimal lesionstaking into account the anatomical contours and structure. Physicianscan then navigate the catheter hood into the particular orientationbefore performing ablation. Additionally, for steerable sections with aplurality of sensors, the steerable section can be graphicallyrepresented as well, as previously described. FIG. 18C is anillustrative example of such a system in which the hood assembly 194indicates the current position and the idealized hood assembly 196represents the idealized position and orientation of the hood and thesteerable section in order to perform the next ablation optimally.

FIG. 19 also shows a variation in which the handle assembly 80 maygenerate tactile sensations such as force feedback on the steeringcontrol 200 for providing force feedback to the user's hand 202 so thatthe user is prompted to steer the catheter into the most optimal andefficient manner to move from one location to another. Such a tactilesensation feature may be utilized with any of the variations describedherein.

The applications of the disclosed invention discussed above are notlimited to certain treatments or regions of the body, but may includeany number of other treatments and areas of the body. Modification ofthe above-described methods and devices for carrying out the invention,and variations of aspects of the invention that are obvious to those ofskill in the arts are intended to be within the scope of thisdisclosure. Moreover, various combinations of aspects between examplesare also contemplated and are considered to be within the scope of thisdisclosure as well.

1-20. (canceled)
 21. A computer implemented method comprising: receivinga model of a tissue region; steering a distal end of a catheter within abody to a first area of a tissue region; obtaining a first image fromthe distal end of the catheter of the first area of the tissue region;mapping the first image of the first area of the tissue region to themodel of the tissue region; and displaying the first image of the firstarea of the tissue region on the model of the tissue region.
 22. Thecomputer implemented method of claim 21 wherein the model isthree-dimensional.
 23. The computer implemented method of claim 21further comprising steering the distal end of the catheter from thefirst area to a second area of the tissue region; obtaining a secondimage from the distal end of the catheter of the second area of thetissue region; mapping the second image of the second area of the tissueregion to the model of the tissue region; and displaying the secondimage of the second area of the tissue region on the model of the tissueregion.
 24. The computer implemented method of claim 21 furthercomprising projecting a graphic representation of the distal end of thecatheter on the model of the tissue region.
 25. The computer implementedmethod of claim 21 wherein obtaining the first image includes obtainingthe first image through an open area created by an expanded hoodextending from the distal end of the catheter.
 26. The computerimplemented method of claim 25 wherein obtaining the first imageincludes obtaining the image through a purging fluid occupying the openarea created by the expanded hood.
 27. The computer implemented methodof claim 21 wherein steering includes activating a control mechanismcoupled to a proximal end of the catheter.
 28. The computer implementedmethod of claim 21 wherein receiving the model includes receiving apre-operative model of the tissue region.
 29. The computer implementedmethod of claim 21 wherein receiving the model includes generating themodel from sensor data referencing position information in the tissueregion.
 30. The computer implemented method of claim 21 whereinreceiving the model includes generating the model from a plurality ofcaptured images.
 31. The computer implemented method of claim 21 furthercomprising displaying an image of the distal end of the catheter on themodel of the tissue region.
 32. The computer implemented method of claim21 further comprising receiving sensor data from a sensor positionedalong a steerable section of the catheter.
 33. The computer implementedmethod of claim 32 further comprising generating an image of thesteerable section of the catheter for display on the model of the tissueregion.
 34. The computer implemented method of claim 21 furthercomprising adjusting the model based on information from the firstimage.
 35. The computer implemented method of claim 34 wherein adjustingthe model includes adding a feature to the model.
 36. The computerimplemented method of claim 21 wherein obtaining the first imageincludes obtaining image data from an imaging element at the distal endof the catheter.
 37. The computer implemented method of claim 21 whereinthe first area of the tissue region is distal of the distal end of thecatheter.
 38. The computer implemented method of claim 21 whereindisplaying the first image of the first area of the tissue regionincludes superimposing the first image on model of the tissue region.